GithubHelp home page GithubHelp logo

w64228013 / calibration_qt Goto Github PK

View Code? Open in Web Editor NEW
4.0 2.0 0.0 30.33 MB

An application of 2D eye-to-hand calibration for UR robotics

License: BSD 3-Clause "New" or "Revised" License

qt cpp calibration ur3

calibration_qt's Introduction

手眼标定软件

开发环境

  • Windows
  • Opencv 3.4
  • Qt 5.10.1
  • C++ 17

采集

可使用Kinect2.0摄像头,对标定板进行拍照。

相机标定

支持棋盘格标定板,手动设定棋盘格的角点数量。

image

畸变校正

image

坐标转换

根据相机标定步骤设定的标定格尺寸,求得图像坐标,在世界坐标系(棋盘坐标系)中的坐标。下图中,每张图都显示对应世界坐标系坐标轴。

image

手眼标定

机械臂TCP坐标系Z轴与棋盘格垂直,给出三个基于Base坐标系的匹配点,即可求出基于2D的转换关系,即2D手眼标定。进而可以以图像坐标转换至机械臂坐标,实现手眼动作。

image

calibration_qt's People

Contributors

w64228013 avatar

Stargazers

 avatar  avatar  avatar  avatar

Watchers

 avatar  avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.